/home/fwph/code/wurde/rde/core/VectorMover.H

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#ifndef _VECTORMOVER_H
#define _VECTORMOVER_H

#include <VectorMoverTransport.H>
#include <Egomotion.H>

namespace WURDE{

       class VectorMover : public VectorMoverTransport {
              
       public:
              explicit VectorMover(const std::string &streamname):
                     VectorMoverTransport(streamname){}
              
              VectorMover(const ConnectionStrategy & strategy,const std::string & gblName):
                     VectorMoverTransport(strategy,gblName){}
              
              VectorMover(const std::string & streamname,const std::string & gblName):
                     VectorMoverTransport(streamname,gblName){}
              
              ~VectorMover(){};      

              void stop();
                     
              void moveToPoint(Point &goal);
              void moveToPoint(const double &x, const double &y);
              void moveToPose(Pose &goal);
              void moveToPose(const double &x, const double &y, const double &theta);
              void rotateToAngle(const double &theta);

              void moveToRelativePoint(Point &goal);
              void moveToRelativePoint(const double &x, const double &y);
              void moveToRelativePose(Pose &goal);
              void moveToRelativePose(const double &x, const double &y, const double &theta);
              void rotateToRelativeAngle(const double &theta);

              void translateFixedDistance(const double &distance);
              //              void rotateFixedAngle(const double &rotate);
                      
       };

}


#endif

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